CN101448065A - Method of correcting image distortion and apparatus for processing image using the method - Google Patents
Method of correcting image distortion and apparatus for processing image using the method Download PDFInfo
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- CN101448065A CN101448065A CNA2008101887708A CN200810188770A CN101448065A CN 101448065 A CN101448065 A CN 101448065A CN A2008101887708 A CNA2008101887708 A CN A2008101887708A CN 200810188770 A CN200810188770 A CN 200810188770A CN 101448065 A CN101448065 A CN 101448065A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/16—Picture reproducers using cathode ray tubes
- H04N9/28—Arrangements for convergence or focusing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
- H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N3/00—Scanning details of television systems; Combination thereof with generation of supply voltages
- H04N3/10—Scanning details of television systems; Combination thereof with generation of supply voltages by means not exclusively optical-mechanical
- H04N3/16—Scanning details of television systems; Combination thereof with generation of supply voltages by means not exclusively optical-mechanical by deflecting electron beam in cathode-ray tube, e.g. scanning corrections
- H04N3/22—Circuits for controlling dimensions, shape or centering of picture on screen
- H04N3/23—Distortion correction, e.g. for pincushion distortion correction, S-correction
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Abstract
The invention provides a method of correcting image distortion and an apparatus for processing an image using the method, wherein the method can overcome the disadvantages of the conventional methods of correcting lens distortion and can minimize image quality degradation at outer portions,. The method includes: receiving an image from a wide-angle lens; extracting a distortion coefficient of the distortion in the image caused by the wide-angle lens; correcting the distortion of the image by using the extracted distortion coefficient; and displaying a corrected image. The apparatus includes: a wide-angle lens for receiving an image; an image processing unit comprising a distortion coefficient extracting unit for extracting a distortion coefficient of distortion in the image caused by the wide-angle lens and a distortion correcting unit for correcting the distortion of the image using the extracted distortion coefficient; and a display unit for displaying a corrected image.
Description
Technical field
The present invention relates to handle the method and apparatus of image, particularly, relate to the method for correcting image distorsion and use this method to handle the device of image.
Background technology
Camera has used in wide industrial is used and has just used in the number application that constantly change is big.For example, camera replaces human eye and uses in many automatic industrials are used, the identification of the image of catching as the supervisory control of robot on the production line, product quality test, medical diagnosis, safety with by the use picture system.
Usually, when needs obtain high-definition picture, place narrow angle mirror head in the camera front, and when needs are taken a picture to broader area, place wide-angle lens in the camera front.Wide-angle lens allows the wide-angle visual field, but has the shortcoming that resolution reduces from camera lens mediad outside.
Wide-angle lens also has radial distortion from the outside shortcoming that increases of camera lens mediad.This radial distortion is the main cause of resolution degradation.
Figure 1A and 1B be diagram respectively wherein radial distortion by the mode image that wide-angle lens caused and the photo of network image.As mentioned above, resolution degradation and radial distortion increase from the camera lens mediad is outside.
The method of corrective lens distortion is divided into two time scales approach and non-method for measurement.Inherence and the external parameter of two time scales approach by using the camera model may influence lens distortions comes distortion in the correcting image.Inherent and external parameter is based on reference point and measured.Non-method for measurement does not rely on reference point and depends on the fact of the straight line in must be always corresponding (project to) image of straight line in the what comes into a driver's.Non-method for measurement comes correcting distortion by being modified to straight line by the curve that lens distortions caused.
In two time scales approach, use multiple reference points more may increase the accuracy of distortion factor.Therefore, two time scales approach may need a plurality of mode images in the process of extracting reference point.In addition, two time scales approach may be introduced in the serious measure error that occurs when obtaining inherent and external parameter.
In non-method for measurement, can be used for obtaining distortion factor by using single image rather than making of any reference point.Yet in non-method for measurement, distortion factor only could be measured when image comprises the object with linear component.In addition, the automatic distortion correcting algorithm is very responsive to the noise in the non-method for measurement.
Summary of the invention
The invention provides a kind of apparatus and method of correcting image distorsion, its can overcome the corrective lens distortion conventional method shortcoming and can reduce the deteriroation of image quality of image outside.
According to an aspect of the present invention, provide a kind of method of correcting image distorsion, this method comprises: receive image from wide-angle lens; Extract the distortion factor of the distortion in the image; Use the distortion factor that extracts to come correcting image distorsion; And demonstration correcting image.
Extracting distortion factor can comprise by using lens distortions model artificially to obtain best distortion factor in the preset range.Correcting image distorsion can comprise uses the reverse mapping of using the distortion factor that extracts.The lens distortions model can be described by equation
R
C＝R
D(1+kR
2 D)，0<k≤(a-1)/R
2 DM
Wherein: R
CIt is the distance of the coordinate origin from the predetermined point to the correcting image; R
DIt is the distance of coordinate origin from predetermined point to image with distortion; And k is greater than 0 and is equal to or less than (a-1) divided by R
DMSquare distortion factor.Term R
DMBe ultimate range, and a is the constant greater than 2 from the coordinate origin of image to the solstics with distortion.
Correcting image distorsion can comprise by using bilinear interpolation to eliminate the pseudo-shadow (jagged-edge artifacts) of jagged edges.The correction of image fault can also comprise revises outside curve to minimize the obfuscation of correcting image outside.
The correction of outer curve can comprise based on R
C-R
DFlex point in the figure is selected a plurality of points and based on selected a plurality of somes fair curves.
According to a further aspect in the invention, provide a kind of device of handling image, this device comprises: wide-angle lens is used to receive image; Graphics processing unit comprise the distortion that is used for extracting the image that causes by wide-angle lens distortion factor the distortion factor extraction unit and be used for by using the distortion correction unit of the distortion factor correcting image distorsion that extracts; And display unit, be used to show correcting image.
Wide-angle lens can comprise the fish eye lens (fish-eye lens) that has less than 120 ° visual angle.The distortion factor extraction unit can obtain best distortion factor in the preset range by using lens distortions model artificially.
The radial distortion that is caused by wide-angle lens can be proofreaied and correct by the reverse mapping of using distortion factor in the distortion correction unit.The distortion correction unit can use bilinear interpolation to eliminate by the pseudo-shadow of the jagged edges that correction caused of radial distortion.
Graphics processing unit may further include the curve amending unit, is used to revise outside curve to minimize the obfuscation of correcting image outside.The curve amending unit can be based on R
C-R
DFlex point in the figure is selected a plurality of points and based on the curve of selected a plurality of some corrections outside.
Description of drawings
To the detailed description of exemplary embodiment of the present, it is more obvious that the features and advantages of the present invention will become by hereinafter.The present invention is by describing with reference to the accompanying drawings, in the accompanying drawing:
Figure 1A and 1B be diagram respectively wherein radial distortion by the mode image that wide-angle lens caused and the photo of network image;
Fig. 2 A and 2B are used to explain the plane coordinate system of the radial distortion that is caused by wide-angle lens;
Fig. 3 is a block diagram of handling the device of image according to the method for the use correcting image distorsion of the embodiment of the invention;
Fig. 4 is the figure that is used for the radial distortion curve of correcting distortion image;
Fig. 5 is the figure that is used to explain the method for the radial distortion curve of revising Fig. 4;
Fig. 6 A and 6B are mode image shown in Figure 1A and the 1B and the photo of network image after proofreading and correct by the method for using Fig. 3;
Fig. 7 is used for the figure of the method for key-drawing 5 in further detail;
Fig. 8 A to 8E is the photo that illustrates distorted image and the correcting image that method obtained by revising distortion curve among Fig. 7; And
Fig. 9 is the diagram flow chart of the method for correcting image distorsion in accordance with another embodiment of the present invention.
Embodiment
Describe the present invention in detail referring now to accompanying drawing, shown exemplary embodiment of the present invention in the accompanying drawing.Be to be understood that element can directly connect when an element is described to be connected to another element, perhaps can have intermediary element between two elements.In hereinafter description of the present invention, the size of the element shown in the accompanying drawing can be exaggerated when needed, and in order to understand the present invention better, element can omit from accompanying drawing.Reference numeral identical in the accompanying drawing is represented components identical.The specified scope that used term is intended to describe exemplary embodiment and should be interpreted as limiting claim.
Fig. 2 A and 2B are the plane coordinate systems that shows by the radial distortion that wide-angle lens caused.Fig. 2 A illustrates the coordinate system of correcting image.Fig. 2 B illustrates the coordinate system of the image with the radial distortion that is caused by wide-angle lens.
With reference to figure 2A and 2B, begin to increase from initial point by the radial distortion that wide-angle lens caused with distance, make the theme size and the curve number of degrees begin to increase with distance from initial point.In Fig. 2 A and 2B, R
CBe the distance of the coordinate origin from the predetermined point to the correcting image, and R
DIt is the distance of coordinate origin from predetermined point to image with radial distortion.
Fig. 3 is a block diagram of handling the device of image according to the method for the use correcting image distorsion of the embodiment of the invention.
With reference to figure 3, this device comprises wide-angle lens 100, graphics processing unit 200 and display unit 300.Wide-angle lens 100 can be the fish eye lens that has less than 120 ° visual angle, more accurately, and 60 to 120 ° visual angle.Display unit 300, it shows the image of being handled by graphics processing unit 200, can be liquid crystal display (LCD) monitor or cathode ray tube (CRT) monitor.
Distortion factor extraction unit 220 extracts the distortion factor of the distortion that is caused by wide-angle lens 100 in the image.Distortion correction unit 240 comes correcting image by the reverse mapping of using the distortion factor that extracts.
Especially, for the radial distortion that produces in the correcting image, distortion factor extracts by using transformation for mula or lens distortions model, and distortion is proofreaied and correct by the image transform of using the distortion factor that extracts.Image transform is divided into forward direction mapping and oppositely mapping.The forward direction mapping has and can generate empty shortcoming but have possibility in correcting image, because integer calculations is performed the pixel with the calculation correction image directly from the advantage of distorted image calculating with the pixel of the corresponding correcting image of pixel of distorted image.
Be different from the forward direction mapping, oppositely mapping does not generate the cavity, because the coordinate of distorted image calculates by the coordinate that uses correcting image.
R
C＝R
D(1+kR
2 D)，0<k≤(a-1)/R
2 DM (1)
R wherein
CBe the distance of the coordinate origin from the predetermined point to the correcting image, R
DBe the distance of the coordinate origin from the predetermined point to the distorted image, R
DMBe the ultimate range from the coordinate origin of distorted image to the solstics, k is a distortion factor, and a is the constant greater than 2.
According to the lens distortions model, best distortion factor k is measured in the artificially in predetermined measuring range, rather than uses estimation automatically, to eliminate the error that noise was caused that conventional method was run into.That is to say, allow by wide-angle lens 100 inputs image be that the artificially obtains by the identical best distortion factor that is positioned at preset range of the image of human eye perception.
For more accurate, the lens distortions model can use the more higher order term that comprises a plurality of distortion factors.Yet the number that increases distortion factor may increase the error of being introduced during distortion factor is measured, thereby increases follow-up error in numerical calculation.Therefore, the device of Fig. 3 uses only distortion factor, because radial distortion can pass through only abundant modelling of distortion factor quilt.Shown in equation 1, the employed lens distortions model of the device of Fig. 3 comprises only distortion factor.
Therefore because it is radial distortion that the present invention supposes distortion, best distortion factor is that positive number and maximum are by distance R
DMA determines with constant.Therefore, can extract best distortion factor according to equation 1 artificially in preset range.
In case extracted best distortion factor by distortion factor extraction unit 220, distortion correction unit 240 comes correcting image by the reverse mapping of using the distortion factor that extracts.Although oppositely mapping can overcome the shortcoming of forward direction mapping, promptly eliminate some cavities in the correcting image, oppositely mapping may stay defective, i.e. the pseudo-shadow of jagged edges in the linear component of image.Therefore, the bilinear interpolation of the weighted sum of using four neighbors is carried out to eliminate the pseudo-shadow of jagged edges in the distortion correction unit 240 of Fig. 3.
Fig. 4 is diagram R
CAnd R
DBetween the figure of radial distortion curve of relation.The radial distortion curve is used to the correcting distortion image.
With reference to figure 4, solid line, it is the radial distortion curve according to equation 1, along with the distance R of the coordinate origin from the predetermined point to the correcting image
CIncrease and precipitous.Dotted line, it is the line of best correcting image or true picture, has shown the distance R that directly is directly proportional mutually
CAnd R
DTherefore, if distorted image is proofreaied and correct by the radial distortion curve shown in using, the deteriroation of image quality of the outside of correcting image is inevitable so.
Fig. 5 is a figure of explaining the method for the radial distortion curve of revising Fig. 4.
With reference to figure 5, the outside of radial distortion curve is corrected to reduce outside deteriroation of image quality.In Fig. 5, solid line is original radial distortion curve, and dotted line is the radial distortion curve of revising.The radial distortion curve can be by selecting a plurality of points based on original radial distortion point of inflexion on a curve, and then revise by using suitable cubic equation to begin to revise the radial distortion curve from flex point.
Fig. 6 A and 6B are corresponding its distortion of graphic those photos is proofreaied and correct by the method for using Fig. 3 among diagram and Figure 1A and the 1B the mode image and the photo of network image.
It is mode image and the network image that the distortion shown in Fig. 6 A and the 6B is eliminated by Figure 1A that wide-angle lens caused and mode image and the network image of 1B that the device of Fig. 3 can be proofreaied and correct its radial distortion.
Fig. 7 is the figure of the method for diagram Fig. 5 of using a plurality of radial distortion curves.
With reference to figure 7, change cubic equation and can generate and compare the better radial distortion curve of match with Fig. 5.Point in the solid line is selected flex point.Line 1 is original radial distortion curve, and line 2 to 4 is radial distortion curves of being revised by use cubic equation 2,3 and 4 respectively.
R
D＝(1.0×10
-9)×R
3 C-0.000248×R
2 C+0.555×R
C+79 (2)
R
D＝(-1.0×10
-20)×R
3 C-(7.8×10
-5)×R
2 C+0.43×R
C+105 (3)
R
D＝(-1.37×10
-6)×R
3 C+0.00367×R
2 C-2.16×R
C+634 (4)
Fig. 8 A to 8E is the photo of the image proofreaied and correct of the method for diagram distorted image and the equation by using Fig. 7.Fig. 8 A is that wherein distortion is by the photo of the network image that wide-angle lens caused.Fig. 8 B is the photo of the network image proofreaied and correct by the original radial distortion curve 1 that uses Fig. 7.Fig. 8 C is the photo of the network image proofreaied and correct by the correction radial distortion curve 2 that uses Fig. 7.Fig. 8 D is the photo of the network image proofreaied and correct by the correction radial distortion curve 3 that uses Fig. 7.Fig. 8 E is the photo of the network image proofreaied and correct by the correction radial distortion curve 4 that uses Fig. 7.
The picture quality of image outside is enhanced by the method for Fig. 7.Compare these correcting images, the quality of the network image of Fig. 8 C is better than the quality of the network image of Fig. 8 B.Although the quality of the network image of Fig. 8 D is better than the quality of the network image of Fig. 8 C, some distortions have appearred in the network image of Fig. 8 D once more.
Therefore, the device correction image of Fig. 3 is and the image optimized image much at one that passes through the human eye perception.This device is by selecting suitable cubic equation and eliminating outside obfuscation according to cubic equation correction radial distortion curve.
Fig. 9 is the diagram flow chart of the method for correcting image distorsion in accordance with another embodiment of the present invention.
With reference to figure 9,, receive image from wide-angle lens at operating procedure S100.As mentioned above, when from wide-angle lens reception image, for example the image fault of radial distortion is caused by wide-angle lens.At operating procedure S200, extract the radial distortion of distortion factor with correcting image.The image of permission by wide-angle lens incident can come the artificially to extract by the suitable distortion factor model that uses distortion factor to fall within the preset range with image best distortion factor much at one by the human eye perception.Equation 1 is an example of distortion factor model.
At operating procedure S300, the distortion of image is proofreaied and correct by reverse mapping.Eliminate by bilinear interpolation by the pseudo-shadow of the jagged edges that reverse mapping caused.
At operating procedure S400, eliminate the obfuscation of the outside of correcting image.Obfuscation can be eliminated by the curve correction, for example, and by selecting a plurality of points based on flex point and passing through to use suitable cubic equation fair curve.
At operating procedure S500, correcting image is converted to image file and is presented at display unit by multimedia processor.
Image with the distortion that is caused by wide-angle lens is corrected as and the image optimized image much at one that passes through the human eye perception by the method for using correcting distortion among Fig. 9: the best distortion factor in the preset range is extracted in the artificially; Carry out oppositely mapping by using the best distortion factor that extracts; Eliminate the pseudo-shadow of jagged edges by using bilinear interpolation; And by using the curve correction to eliminate outside obfuscation.
As mentioned above, the single mode image of needs or a plurality of mode image are not proofreaied and correct the distortion that is caused by wide-angle lens according to the device of the method for correcting image distorsion of the present invention and this method of execution.That is to say that extract because distortion factor is the artificially, the method according to this invention and device do not need to be used to extract any mode image of respective point, are different from traditional method and apparatus.
And because the method according to this invention is by using bilinear interpolation and eliminate the pseudo-shadow of jagged edges and by using the curve correction to eliminate outside obfuscation, this method can correcting image be and passes through the image optimized image much at one of human eye perception.
And, use the device of the method according to this invention suitably proofread and correct by fish eye lens or have 120 ° the visual angle the distortion that camera lens caused for and image image much at one by the human eye perception.
Although the present invention has been carried out specific demonstration and description with reference to exemplary embodiment of the present invention, but those skilled in the art will appreciate that, under the prerequisite that does not break away from by defined the spirit and scope of the invention of claim hereinafter, can make the various changes on form and the details.
The application number that the application requires to submit in Korea S Department of Intellectual Property on August 27th, 2007 is the priority of asking in the Korean Patent of 10-2007-0086274, and the disclosure of this application is incorporated into by reference and all at this.
Claims (18)
1, a kind of method of correcting image distorsion, described method comprises:
Receive image from wide-angle lens;
At image, extract distortion factor with the distortion that causes by wide-angle lens;
Use the distortion of the distortion factor correcting image that extracts; And
Show the image of proofreading and correct.
2, the method for claim 1, wherein described wide-angle lens comprises the fish eye lens that has less than 120 ° visual angle.
3, the step of the method for claim 1, wherein extracting distortion factor comprises and uses lens distortions model artificially to obtain distortion factor in the preset range.
4, method as claimed in claim 3, wherein, the step of correcting distortion comprises that the reverse mapping by using the distortion factor that extracts comes correcting image distorsion.
5, method as claimed in claim 3, wherein, described lens distortions model is as shown below:
The distance R of the coordinate origin from the predetermined point to the correcting image
CEqual the distance R of coordinate origin from predetermined point to image with distortion
DAdd R
DCube,
Wherein, R
DCube coefficient be distortion factor k, and distortion factor k is greater than 0 and be equal to or less than (a-1) divided by R
DM,
Wherein, R
DMBe ultimate range, and a is the constant greater than 2 from the coordinate origin of image to the solstics of image with distortion.
6, method as claimed in claim 5, wherein, the step of correcting distortion comprises uses the distortion factor correct radial distortion of extracting.
7, method as claimed in claim 6, wherein, the step of correcting distortion comprises uses bilinear interpolation to eliminate the pseudo-shadow of jagged edges.
8, method as claimed in claim 6, wherein, the step of correcting distortion comprises revises the obfuscation of outside curve with the outside that reduces correcting image.
9, method as claimed in claim 8, wherein, the step of fair curve comprises based on R
C-R
DFlex point in the figure is selected a plurality of points and is used selected a plurality of somes fair curves.
10, method as claimed in claim 9 wherein, is revised outside curve negotiating and is used cubic equation to carry out.
11, a kind of device of handling image, described device comprises:
Wide-angle lens is used to receive image;
Graphics processing unit comprises:
The distortion factor extraction unit is used for extracting the distortion factor of image by the distortion that wide-angle lens caused, and
The distortion correction unit is used to use the distortion factor correcting image distorsion of extraction; And
Display unit shows correcting image.
12, device as claimed in claim 11, wherein, described wide-angle lens comprises the fish eye lens that has less than 120 ° visual angle.
13, device as claimed in claim 11, wherein, described distortion factor extraction unit uses lens distortions model artificially to obtain the interior distortion factor of preset range.
14, device as claimed in claim 13, wherein, described lens distortions model is as shown below:
The distance R of the coordinate origin from the predetermined point to the correcting image
CEqual the distance R of coordinate origin from predetermined point to image with distortion
DAdd R
DCube,
Wherein, R
DCube coefficient be distortion factor k, and distortion factor k is greater than 0 and be equal to or less than (a-1) divided by R
DM,
Wherein, R
DMBe ultimate range, and a is the constant greater than 2 from the coordinate origin of image to the solstics of image with distortion.
15, device as claimed in claim 14, wherein, the radial distortion that is caused by wide-angle lens is proofreaied and correct by the reverse mapping of using distortion factor in described distortion correction unit.
16, device as claimed in claim 15, wherein, described distortion correction unit uses bilinear interpolation to eliminate the pseudo-shadow of jagged edges.
17, device as claimed in claim 15, wherein, described graphics processing unit further comprises the curve amending unit, the curve of outside that is used to revise correcting image is to reduce obfuscation.
18, device as claimed in claim 17, wherein, described curve amending unit is based on R
C-R
DFlex point in the figure is selected a plurality of points and is used the curve of cubic equation correction outside.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR86274/07 | 2007-08-27 | ||
| KR1020070086274A KR101014572B1 (en) | 2007-08-27 | 2007-08-27 | Method of correcting image distortion and Image processing device of adapting the same method |
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| Publication Number | Publication Date |
|---|---|
| CN101448065A true CN101448065A (en) | 2009-06-03 |
| CN101448065B CN101448065B (en) | 2012-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101887708A Expired - Fee Related CN101448065B (en) | 2007-08-27 | 2008-08-27 | Method of correcting image distortion and apparatus for processing image using the method |
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| Country | Link |
|---|---|
| US (1) | US8000559B2 (en) |
| EP (1) | EP2031861A3 (en) |
| JP (1) | JP4885179B2 (en) |
| KR (1) | KR101014572B1 (en) |
| CN (1) | CN101448065B (en) |
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| CN101448065B (en) | 2012-01-04 |
| JP2009064427A (en) | 2009-03-26 |
| US8000559B2 (en) | 2011-08-16 |
| KR20090021627A (en) | 2009-03-04 |
| EP2031861A2 (en) | 2009-03-04 |
| JP4885179B2 (en) | 2012-02-29 |
| KR101014572B1 (en) | 2011-02-16 |
| US20090059041A1 (en) | 2009-03-05 |
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